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With the advent of GPS and other position sensors, it is now possible to determine position both outdoors and indoors. These sensors are very often installed in vehicles to determine their position. However, speed and orientation cannot be measured directly, nor can the turning radius (or curvature) of the path the vehicle is currently following. This chapter demonstrates how noisy position information can be filtered, and how the unknown speed of the vehicle, its orientation in the plane, and the curvature along the current trajectory can be estimated.

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Example: Position and Velocity Estimation with EKF Filter

  • 章节

  • 发表日期：

    2026年

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  • Sebastian Dingler,
  • Reiner Marchthaler

摘要

With the advent of GPS and other position sensors, it is now possible to determine position both outdoors and indoors. These sensors are very often installed in vehicles to determine their position. However, speed and orientation cannot be measured directly, nor can the turning radius (or curvature) of the path the vehicle is currently following. This chapter demonstrates how noisy position information can be filtered, and how the unknown speed of the vehicle, its orientation in the plane, and the curvature along the current trajectory can be estimated.